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We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
In this paper, we present a controller that combines motion generation and control in one loop, to endow robots with reactivity and safety. In particular, we propose a control approach that enables to follow the motion plan of a first order…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper proposes an event-triggered control scheme for multivariable extremum seeking of static maps. Both static and dynamic triggering conditions are developed. Integrating Lyapunov and averaging theories for discontinuous systems, a…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…
We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
This paper presents iterative Sequential Action Control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
This article presents an adaptive nonlinear delayed feedback control scheme for stabilizing the unstable periodic orbit of unknown fractional-order chaotic systems. The proposed control framework uses the Lyapunov approach and sliding mode…
When intelligent spacecraft or space robots perform tasks in a complex environment, the controllable variables are usually not directly available and have to be inferred from high-dimensional observable variables, such as outputs of neural…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
Gradual advancement of control technology gives rise to the studies of the stability of linear systems. The stability of the linear multiagent system is motivated by increasing utilization of agent dynamics together with the number of…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…